diff options
| -rw-r--r-- | src/lib/geo/geo.c | 23 | ||||
| -rw-r--r-- | src/lib/geo/geo.h | 6 |
2 files changed, 14 insertions, 15 deletions
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c index e03ec65c4..36be32158 100644 --- a/src/lib/geo/geo.c +++ b/src/lib/geo/geo.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -49,14 +49,18 @@ #include <stdio.h> #include <math.h> #include <stdbool.h> +#include <string.h> + +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> /* * Azimuthal Equidistant Projection * formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ -static struct map_projection_reference_s mp_ref = {0}; -static struct globallocal_converter_reference_s gl_ref = {0}; +static struct map_projection_reference_s mp_ref = {0.0, 0.0, 0.0, 0.0, false, 0}; +static struct globallocal_converter_reference_s gl_ref = {0.0f, false}; __EXPORT bool map_projection_global_initialized() { @@ -80,7 +84,7 @@ __EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference __EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 { - if (strcmp("commander", getprogname() == 0)) { + if (strcmp("commander", getprogname()) == 0) { return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp); } else { return -1; @@ -103,7 +107,7 @@ __EXPORT int map_projection_init_timestamped(struct map_projection_reference_s * __EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 { - map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time()); + return map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time()); } __EXPORT int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad) @@ -153,22 +157,17 @@ __EXPORT int map_projection_project(const struct map_projection_reference_s *ref __EXPORT int map_projection_global_reproject(float x, float y, double *lat, double *lon) { - map_projection_reproject(&mp_ref, x, y, lat, lon); + return map_projection_reproject(&mp_ref, x, y, lat, lon); } __EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon) { -<<<<<<< HEAD if (!map_projection_initialized(ref)) { return -1; } - float x_rad = x / CONSTANTS_RADIUS_OF_EARTH; - float y_rad = y / CONSTANTS_RADIUS_OF_EARTH; -======= double x_rad = x / CONSTANTS_RADIUS_OF_EARTH; double y_rad = y / CONSTANTS_RADIUS_OF_EARTH; ->>>>>>> 48f4a1e5cd6ef653b466eb68c1073fb47cbefbd7 double c = sqrtf(x_rad * x_rad + y_rad * y_rad); double sin_c = sin(c); double cos_c = cos(c); @@ -210,7 +209,7 @@ __EXPORT int map_projection_global_getref(double *lat_0, double *lon_0) } __EXPORT int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp) { - if (strcmp("commander", getprogname() == 0)) { + if (strcmp("commander", getprogname()) == 0) { gl_ref.alt = alt_0; if (!map_projection_global_init(lat_0, lon_0, timestamp)) { diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index fbcfe1c2d..2311e0a7c 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -86,7 +86,7 @@ struct globallocal_converter_reference_s { * Checks if global projection was initialized * @return true if map was initialized before, false else */ -__EXPORT bool map_projection_global_initialized(); +__EXPORT bool map_projection_global_initialized(void); /** * Checks if projection given as argument was initialized @@ -98,7 +98,7 @@ __EXPORT bool map_projection_initialized(const struct map_projection_reference_s * Get the timestamp of the global map projection * @return the timestamp of the map_projection */ -__EXPORT uint64_t map_projection_global_timestamp(); +__EXPORT uint64_t map_projection_global_timestamp(void); /** * Get the timestamp of the map projection given by the argument @@ -209,7 +209,7 @@ __EXPORT int globallocalconverter_init(double lat_0, double lon_0, float alt_0, * Checks if globallocalconverter was initialized * @return true if map was initialized before, false else */ -__EXPORT bool globallocalconverter_initialized(); +__EXPORT bool globallocalconverter_initialized(void); /** * Convert from global position coordinates to local position coordinates using the global reference |